arm_joint_sync.py 文件源码

def __init__(self):
        self.joint_names = ['base_joint', 'shoulder_joint', 'elbow_joint', 'wrist_flex_joint', 'wrist_rot_joint',
                            ]
        # subscriber for setting joints position
        self.joint_state = JointState()
        self.states_pub = rospy.Publisher("/joint_states", JointState, queue_size=1)

        self.pose_sub = rospy.Subscriber("/as_arm/joint_states", JointState, callback=self.callback_joint, queue_size=1)
        print "======joint range:"
        for name in self.joint_names[:5]:
            v = self.JointMap[name]
            v['range'][0] *= DEG_TO_RAD
            v['range'][1] *= DEG_TO_RAD
            print '\t', name, v['range']